相关论文: Automatic Contact-Based 3D Scanning Using Articula…

Understanding and manipulating articulated objects, such as doors and drawers, is crucial for robots operating in human environments. We wish to develop a system that can learn to articulate novel objects with no prior interaction, after…

Wide-field imaging is widely adopted due to its fast acquisition, cost-effectiveness and ease of use. Its extension to direct volumetric applications, however, is burdened by the trade-off between resolution and depth of field (DOF),…

Existing galvanometer-based laser scanning systems are challenging to apply in multi-scale 3D reconstruction because of the difficulty in achieving a balance between high reconstruction accuracy and a wide reconstruction range. This paper…

Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…

Soft robots offer an alternative approach to manipulate inside the constrained space while maintaining the safe interaction with the external environment. Due to its adaptable compliance characteristic, external contact force can easily…

This work introduces a cooperative inspection system designed to efficiently control and coordinate a team of distributed heterogeneous UAV agents for the inspection of 3D structures in cluttered, unknown spaces. Our proposed approach…

We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated before use. Using computer aided design (CAD), a robot skin…

In the proposed study, we describe the possibility of automated dataset collection using an articulated robot. The proposed technology reduces the number of pixel errors on a polygonal dataset and the time spent on manual labeling of 2D…

Straight lines are common features in human made environments, which makes them a frequently explored feature for control applications. Many control schemes, like Visual Servoing, require the 3D parameters of the features to be estimated.…

We present 3DTouch, a novel 3D wearable input device worn on the fingertip for 3D manipulation tasks. 3DTouch is designed to fill the missing gap of a 3D input device that is self-contained, mobile, and universally working across various 3D…

Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…

This paper presents the mechatronic design, dynamic modeling, and experimental validation of a three-degree-of-freedom (3-DOF) micro parallel robot featuring a prismatic-spherical (3PS) topology actuated by three Hydraulically Amplified…

Robotic ultrasound has the potential to assist and guide physicians during interventions. In this work, we present a set of methods and a workflow to enable autonomous MRI-guided ultrasound acquisitions. Our approach uses a structured-light…

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…

Nowadays, autonomous mobile robots support people in many areas where human presence either redundant or too dangerous. They have successfully proven themselves in expeditions, gas industry, mines, warehouses, etc. However, even legged…

We propose a method for in-hand 3D scanning of an unknown object with a monocular camera. Our method relies on a neural implicit surface representation that captures both the geometry and the appearance of the object, however, by contrast…

In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…

This article dives into the use of a 3-RRR Spherical Parallel Manipulator (SPM) for the purpose of inertial Line Of Sight (LOS) stabilization. Such a parallel robot provides three Degrees of Freedom (DOF) in orientation and is studied from…

The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…

Inter-robot transfer of training data is a little explored topic in learning- and vision-based robot control. Here we propose a transfer method from a robot with a lower Degree-of-Freedom (DoF) to one with a higher DoF utilizing the…